I assume the Ubuntu box has dual NICs. You can make Ubuntu into a router:
1. Disable the routing functions on the wifi routers and use them as access points only.
2. enable IP forwarding in Ubuntu by uncommenting the following line in /etc/sysctl.conf
#net.ipv4.ip_forward=1
3. add nat masquerading to iptables by passing the command:
iptables -A POSTROUTING -t nat -j MASQUERADE
4. set up routing tables for the clients
If you want, you can also set up DHCP service on Ubuntu which services both networks, also DNS or whatever other network service you need.
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